相关论文: Explaining Imitation Learning through Frames

Iterative refinement -- start with a random guess, then iteratively improve the guess -- is a useful paradigm for representation learning because it offers a way to break symmetries among equally plausible explanations for the data. This…

Recent advances in Keyframe Imitation Learning (IL) have enabled learning-based agents to solve a diverse range of manipulation tasks. However, most approaches ignore the rich symmetries in the problem setting and, as a consequence, are…

Masked Image Modeling (MIM) has emerged as a promising method for deriving visual representations from unlabeled image data by predicting missing pixels from masked portions of images. It excels in region-aware learning and provides strong…

Inverse reinforcement learning (IRL) is the problem of learning the preferences of an agent from the observations of its behavior on a task. While this problem has been well investigated, the related problem of {\em online} IRL---where the…

Learning Rate Rewinding (LRR) has been established as a strong variant of Iterative Magnitude Pruning (IMP) to find lottery tickets in deep overparameterized neural networks. While both iterative pruning schemes couple structure and…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Interpretable Learning to Rank (LtR) is an emerging field within the research area of explainable AI, aiming at developing intelligible and accurate predictive models. While most of the previous research efforts focus on creating post-hoc…

Mask-based pretraining has become a cornerstone of modern large-scale models across language, vision, and recently biology. Despite its empirical success, its role and limits in learning data representations have been unclear. In this work,…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Evaluating fairness under domain shift is challenging because scalar metrics often obscure exactly where and how disparities arise. We introduce \textit{RISE} (Residual Inspection through Sorted Evaluation), an interactive visualization…

This paper addresses the problem of inverse reinforcement learning (IRL) -- inferring the reward function of an agent from observing its behavior. IRL can provide a generalizable and compact representation for apprenticeship learning, and…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Recent reasoning LLMs (RLMs), especially those trained with verifier-based reinforcement learning, often perform worse with few-shot CoT than with direct answering. We revisit this paradox using high-quality reasoning traces from…

Machine learning (ML) has seen significant growth in both popularity and importance. The high prediction accuracy of ML models is often achieved through complex black-box architectures that are difficult to interpret. This interpretability…

From self-driving vehicles and back-flipping robots to virtual assistants who book our next appointment at the hair salon or at that restaurant for dinner - machine learning systems are becoming increasingly ubiquitous. The main reason for…

Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…

We seek to align agent policy with human expert behavior in a reinforcement learning (RL) setting, without any prior knowledge about dynamics, reward function, and unsafe states. There is a human expert knowing the rewards and unsafe states…

In recent years, imitation learning (IL) has been widely used in industry as the core of autonomous vehicle (AV) planning modules. However, previous IL works show sample inefficiency and low generalisation in safety-critical scenarios, on…

Learning from offline task demonstrations is a problem of great interest in robotics. For simple short-horizon manipulation tasks with modest variation in task instances, offline learning from a small set of demonstrations can produce…

Despite widespread adoption, machine learning models remain mostly black boxes. Understanding the reasons behind predictions is, however, quite important in assessing trust, which is fundamental if one plans to take action based on a…